version: 66.08
glider: 181
mission: 4
dive: 155
start: 10 7 110 0 2 35
data:
$ID,181
$MISSION,4
$DIVE,155
$N_DIVES,180
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51774
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-38040.172
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2425
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3298
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-60.178757
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,119
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043203235
$SEABIRD_T_H,0.00062277901
$SEABIRD_T_I,2.2452641e-05
$SEABIRD_T_J,2.2905836e-06
$SEABIRD_C_G,-10.17854
$SEABIRD_C_H,1.1531147
$SEABIRD_C_I,-0.0013870052
$SEABIRD_C_J,0.0002016264
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_UPLOADMAX,40000.0
$TM_STARTS,308.0
$TM_NFFT,512.0
$TM_NAVG,4.0
$TM_PSD,10.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,0.0
$LA_XMITPROFILE,0.0
$LA_UPLOADMAX,25000.0
$LA_STARTS,4.0
$GPS1,061010,235501,2416.414,12609.480,10,1.5,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.5
$GPS2,071010,000207,2416.419,12609.545,27,1.3,27,-3.7
$SPEED_LIMITS,0.241,0.296
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12609.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,203.4,30422,-22.5,-13.889
$D_GRID,1512
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.89,-155.7,0.0,0.0,0,76,0.00,0.00,-53.80,0.000,2,0.000,0.000,202,2430,2863,0,0,0,0,0,0
$GC,78,-0.89,-155.7,3.5,-6.3,7,118,7.53,2.20,-22.50,0.000,4,0.223,0.044,2131,986,3936,0,0,0,0,0,0
$GC,192,-0.76,-155.7,44.5,-40.7,25,201,0.17,2.15,0.00,0.000,6,0.166,0.036,2173,2382,3936,0,0,0,0,0,0
$GC,527,-0.69,-155.7,144.4,-27.3,86,535,0.00,2.15,0.00,0.000,4,0.000,0.041,2164,3777,3939,0,0,0,0,0,0
$GC,627,-0.69,-155.7,166.3,-19.3,103,635,0.12,2.05,0.00,0.000,6,0.151,0.028,2198,2388,3939,0,0,0,0,0,0
$GC,979,-0.69,-155.7,232.3,-18.8,164,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2385,3939,0,0,0,0,0,0
$GC,1322,-0.71,-155.7,289.9,-17.0,225,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2386,3939,0,0,0,0,0,0
$GC,1652,-0.73,-155.7,344.2,-16.4,261,1655,0.00,2.03,0.00,0.000,4,0.000,0.035,2197,1002,3938,0,0,0,0,0,0
$GC,1713,-0.80,-155.7,353.8,-13.6,266,1721,0.00,2.15,0.00,0.000,6,0.000,0.037,2191,2404,3938,0,0,0,0,0,0
$GC,2040,-0.83,-155.7,400.5,-13.7,297,2044,0.00,2.10,0.00,0.000,4,0.000,0.045,2181,3782,3937,0,0,0,0,0,0
$GC,2106,-0.88,-155.7,410.2,-12.3,302,2115,0.10,2.08,0.00,0.000,6,0.047,0.028,2110,2392,3937,0,0,0,0,0,0
$GC,2433,-0.84,-155.7,477.2,-21.0,333,2438,0.15,2.08,0.00,0.000,4,0.167,0.035,2149,999,3935,0,0,0,0,0,0
$GC,2450,-0.81,-155.7,481.0,-19.9,334,2454,0.00,2.12,0.00,0.000,6,0.000,0.037,2146,2401,3935,0,0,0,0,0,0
$STATE,2560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2561,begin apogee
$GC,2566,-0.16,0.0,500.3,16.6,344,2689,0.70,0.00,117.05,0.861,6,0.127,0.000,2370,1983,3298,0,0,0,0,0,0
$STATE,2689,end apogee,CONTROL_FINISHED_OK
$STATE,2689,begin climb
$GC,2691,0.89,155.7,505.2,0.0,354,2819,0.90,2.17,119.38,0.844,4,0.041,0.036,2737,601,2664,0,0,0,0,0,0
$GC,3071,0.75,155.7,468.4,15.5,386,3080,0.22,2.17,0.00,0.000,6,0.171,0.033,2672,2014,2658,0,0,0,0,0,0
$GC,3399,0.67,161.5,426.5,13.5,417,3412,0.12,2.15,4.90,0.573,4,0.191,0.039,2649,608,2639,0,0,0,0,0,0
$GC,3496,0.60,162.7,413.1,13.8,425,3503,0.00,2.10,0.00,0.000,6,0.000,0.034,2649,2003,2638,0,0,0,0,0,0
$GC,3821,0.61,219.5,374.8,10.5,456,3873,0.00,2.25,44.90,0.788,4,0.000,0.042,2649,3410,2403,0,0,0,0,0,0
$GC,4071,0.56,219.5,337.7,14.5,478,4076,0.20,2.12,0.00,0.000,6,0.166,0.031,2607,2005,2397,0,0,0,0,0,0
$GC,4395,0.63,277.0,302.7,10.4,508,4447,0.00,2.20,44.22,0.744,4,0.000,0.040,2616,601,2167,0,0,0,0,0,0
$GC,4524,0.69,304.0,288.1,12.3,526,4552,0.00,2.17,21.62,0.705,6,0.000,0.034,2616,2000,2059,0,0,0,0,0,0
$GC,4888,0.71,304.0,237.0,14.1,590,4897,0.10,2.22,0.00,0.000,4,0.102,0.044,2660,3412,2052,0,0,0,0,0,0
$GC,4956,0.69,304.0,225.2,18.5,601,4963,0.00,2.12,0.00,0.000,6,0.000,0.031,2674,2002,2051,0,0,0,0,0,0
$GC,5303,0.66,304.0,168.1,14.9,662,5312,0.15,2.20,0.00,0.000,4,0.164,0.042,2634,3404,2050,0,0,0,0,0,0
$GC,5342,0.68,304.0,162.4,14.1,668,5351,0.00,2.15,0.00,0.000,6,0.000,0.031,2642,1993,2049,0,0,0,0,0,0
$GC,5679,0.77,360.9,123.2,10.5,729,5726,0.00,2.17,42.30,0.624,4,0.000,0.042,2653,590,1825,0,0,0,0,0,0
$GC,5753,0.84,394.4,114.7,11.9,739,5786,0.08,2.17,25.92,0.594,6,0.054,0.033,2704,1999,1690,0,0,0,0,0,0
$GC,6111,0.87,414.8,57.1,12.7,803,6135,0.00,2.20,16.17,0.542,4,0.000,0.041,2705,3398,1606,0,0,0,0,0,0
$GC,6194,0.98,477.9,48.1,10.1,816,6249,0.00,2.15,47.83,0.555,6,0.000,0.031,2715,1998,1356,0,0,0,0,0,0
$STATE,6533,end climb,SURFACE_DEPTH_REACHED
$STATE,6534,begin surface coast
$FINISH,0.5,1.007102
$STATE,6558,end surface coast,CONTROL_FINISHED_OK
$STATE,6558,begin surface
$SM_CCo,6642,0.00,0.000,0,0,1339,480.30
$SM_GC,1.55,6.50,0.00,0.00,0.040,0.000,0.000,214,2406,1339,-6.84,0.17,480.30
$IRIDIUM_FIX,2408.65,12641.79,061010,222224
$TT8_MAMPS,0.027713
$HUMID,47.40
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.7,21.695
$10V_AH,10.3,26.433
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.050,57.050,484.300,0.000,0.000,30.416,41.511,188.144,0.000,0.000,30.547,2123.963,1688.515,468.611,2597.624,193.881,0.000,1315.188,0.000,1398.961,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,45.135,860.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,593.016,1338.771,1620.665,0.000,0.000,0.000,2321.892,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,331436
$DATA_FILE_SIZE,63784,880
$CAP_FILE_SIZE,92956,0
$CFSIZE,260165632,239345664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074, 87.7,1
$GPS,071010,015425,2415.539,12609.484,33,1.9,33,-3.7